Method for trailer detection and method for controlling a vehicle function

A method for trailer detection of a trailer of a vehicle, the method comprising the following steps:

• providing vehicle surroundings sensor data from at least one surroundings sensor which is assigned to the vehicle and acquires at least one surroundings region of the vehicle that at least partly includes the trailer;
• and
• creating a trailer model for identifying trailer sensor data in the vehicle surroundings sensor data to be assigned to a trailer including at least a trailer wheel of a trailer axle of the trailer;
• wherein the trailer model is created based on a classification in which the vehicle surroundings sensor data are categorized into at least one first class that characterizes at least the trailer axle.

A method for controlling a vehicle function of a vehicle with a trailer, comprising the following steps:

• recording vehicle surroundings sensor data from a surroundings sensor which is assigned to the vehicle and acquires at least one surroundings region of the vehicle that at least partly includes the trailer;
• creating a trailer model of a trailer of the vehicle by:
• providing vehicle surroundings sensor data from at least one surroundings sensor which is assigned to the vehicle and acquires at least one surroundings region of the vehicle that at least partly includes the trailer, and
• creating a trailer model for identifying trailer sensor data in the vehicle surroundings sensor data to be assigned to a trailer including at least a trailer wheel of a trailer axle of the trailer,
• wherein the trailer model is created based on a classification in which the vehicle surroundings sensor data are categorized into at least one first class that characterizes at least the trailer axle;
• and
• controlling the vehicle function depending on the trailer model.